UavHeightControl_onboard.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





#ifndef UAV_HEIGHTCONTROL_ONBOARD_TASK_H_
#define UAV_HEIGHTCONTROL_ONBOARD_TASK_H_

#include <Task.h>
#include <Resource.h>
#include <Uav.h>
#include <CommonOptions.h>
#include <Keyboard.h>

#include <iostream>

#ifndef MIP_PLATFORM_ARM
#include <DraWin.h>
#endif

#define M2INCH 0.0254

namespace MipTasks{
 
 /* @{ */
 
  enum UavHeiConOnboardStates{
    UAV_HEIGHT_CONTROL_ONBOARD_FIRST_RUN,
    UAV_HEIGHT_CONTRO_ONBOARDL_NORMAL_RUN,
    UAV_HEIGHT_CONTROL_ONBOARD_ONOFF_MOTORS,
    UAV_HEIGHT_CONTROL_ONBOARD_STATES_NUM
 };
 
  static const char* UavHeiConOnboardStatesNames[UAV_HEIGHT_CONTROL_ONBOARD_STATES_NUM] = {
  "FirstRun",
  "NormalRun_pid",
  "OnOffMotors"
 };
 
 
  class UavHeiConOnboardOptions : public Options {
  public:
    DecimalOption* Kp;   
    DecimalOption* Kd;   
    DecimalOption* Ki;   

    DecimalOption* height_ref;  

    UavHeiConOnboardOptions();

    string getObjectName() const {
      return "UavHeiConOnboardOptions";
    }
  };
 
 
  class UavHeiConOnboard : public Task{
  private:
   
      static const TaskPlate _plate = OHC_TASK;
   
      static const long int  _maxDurSec  = 0,      _maxDurUsec         = 100000;
      static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec = 20000;
      static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 10000;
   
   Uav*  _uav;
   
      UavHeiConOnboardOptions _options;
   
      UavHeiConOnboardStates _state;
   
   void _firstRun();
      void _normalRun();
   void _onoff_motors();
   
   void readInput();

      Decimal Kp;
      Decimal Kd;
      Decimal Ki;

      Decimal last_quad_time;

   Decimal posZ_des;

   Time t_motor;
   
   Keyboard*   _keyboard;    
   
   ofstream logfile;
  public:
      UavHeiConOnboard(ResourcePointers resources,int argc, const char* argv[]);
   
      ~UavHeiConOnboard();
   
   TaskPlate getPlate() const {
    return _plate;
   }
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   TaskOutputs run();
 };
 
 
 /* @} */
 
};// end namespace MipTasks

#endif